## page was copied from roslaunch/Tutorials/Profiling roslaunch nodes
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## title =How to profile roslaunch nodes
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## description = This tutorial explains how to use profiling tools for [[roscpp]] [[Nodes|nodes]] that you are launching with [[roslaunch]].
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Here are some examples to to integrate with profiling a ROS node process.
== gprof ==
gprof is a performance analysis tool for Unix processes. It uses a both instrumentation and sampling. An instrumentation code is automatically inserted into a program code during compilation time with `-pg` option (for gcc) and sampling data is save in `gmon.out` file, just before the program exits.
1. Add `-pg` option after `catkin_package()` in your `CMakeLists.txt` file
{{{
...
catkin_package()
### FOR PROFILING (need to set after catkin_package)
add_compile_options(-pg)
set(catkin_LIBRARIES ${catkin_LIBRARIES} -pg)
###
include_directories(${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
...
}}}
2. Change your launch file(s) so that each ROS node outputs different output. (Otherwise, all ROS node outputs to same `gmon.out` file)
Add `<env>` tag just before the each `<node>` tag. The `GMON_OUT_PREFIX` environment variable specifies the output name for `gprof`, so it should be identical. For example, use ROS node name would be good idea.
{{{
<env name="GMON_OUT_PREFIX" value="listener" />
<node name="listener" pkg="examples" type="listener" output="screen" />
<env name="GMON_OUT_PREFIX" value="talker" />
<node name="talker" pkg="examples" type="talker" output="screen" />
}}}
In this example, the ROS node will output the profiling output data to you `~/.ros/` directory with file named `listener.[pid]` and `talker.[pid]`.
Note that this is tricky and might be changed in the future release of `roslaunch`.
3. Start your ROS node with `roslaunch` command as usual, and exits with `C-c`
4. You can find your profiling output file under the `~/.ros` directory, for example `talker.21301` and `listener.21300`. To analyse, run
{{{
$ gprof devel/lib/examples/listener ~/.ros/listener.21300
}}}
and
{{{
$ gprof devel/lib/examples/talker ~/.ros/talker.21301
}}}
You'll get something like
{{{
Flat profile:
Each sample counts as 0.01 seconds.
no time accumulated
% cumulative self self total
time seconds seconds calls Ts/call Ts/call name
0.00 0.00 0.00 423 0.00 0.00 boost::detail::shared_count::~shared_count()
0.00 0.00 0.00 222 0.00 0.00 boost::detail::sp_counted_base::release()
0.00 0.00 0.00 222 0.00 0.00 boost::detail::atomic_exchange_and_add(int*, int)
0.00 0.00 0.00 221 0.00 0.00 boost::detail::shared_count::shared_count(boost::detail::shared_count const&)
0.00 0.00 0.00 221 0.00 0.00 boost::detail::sp_counted_base::add_ref_copy()
0.00 0.00 0.00 221 0.00 0.00 boost::detail::atomic_increment(int*)
0.00 0.00 0.00 201 0.00 0.00 boost::detail::shared_count::shared_count()
0.00 0.00 0.00 178 0.00 0.00 boost::detail::shared_count::swap(boost::detail::shared_count&)
0.00 0.00 0.00 165 0.00 0.00 boost::function_base::empty() const
0.00 0.00 0.00 154 0.00 0.00 boost::shared_ptr<std_msgs::String_<std::allocator<void> > >::~shared_ptr()
0.00 0.00 0.00 132 0.00 0.00 boost::shared_ptr<std_msgs::String_<std::allocator<void> > const>::~shared_ptr()
0.00 0.00 0.00 132 0.00 0.00 std::remove_reference<std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >*&>::type&& std::move<std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >*&>(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >*&)
...
}}}
and
{{{
Flat profile:
Each sample counts as 0.01 seconds.
no time accumulated
% cumulative self self total
time seconds seconds calls Ts/call Ts/call name
0.00 0.00 0.00 99 0.00 0.00 boost::detail::shared_count::shared_count()
0.00 0.00 0.00 78 0.00 0.00 boost::shared_ptr<ros::Publisher::Impl>::operator->() const
0.00 0.00 0.00 78 0.00 0.00 bool std::operator==<char, std::char_traits<char>, std::allocator<char> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*)
0.00 0.00 0.00 76 0.00 0.00 boost::detail::shared_count::~shared_count()
0.00 0.00 0.00 69 0.00 0.00 std::remove_reference<unsigned char*&>::type&& std::move<unsigned char*&>(unsigned char*&)
0.00 0.00 0.00 57 0.00 0.00 void boost::checked_array_delete<unsigned char>(unsigned char*)
0.00 0.00 0.00 57 0.00 0.00 boost::detail::sp_counted_base::~sp_counted_base()
0.00 0.00 0.00 57 0.00 0.00 boost::detail::sp_counted_impl_pd<unsigned char*, boost::checked_array_deleter<unsigned char> >::~sp_counted_impl_pd()
0.00 0.00 0.00 57 0.00 0.00 boost::checked_array_deleter<unsigned char>::operator()(unsigned char*) const
0.00 0.00 0.00 53 0.00 0.00 ros::message_traits::MD5Sum<std_msgs::String_<std::allocator<void> > >::value()
0.00 0.00 0.00 52 0.00 0.00 ros::message_traits::MD5Sum<std_msgs::String_<std::allocator<void> > >::value(std_msgs::String_<std::allocator<void> > const&)
0.00 0.00 0.00 52 0.00 0.00 char const* ros::message_traits::md5sum<std_msgs::String_<std::allocator<void> > >(std_msgs::String_<std::allocator<void> > const&)
0.00 0.00 0.00 50 0.00 0.00 boost::shared_ptr<void const>::shared_ptr()
0.00 0.00 0.00 50 0.00 0.00 std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >::_M_get_Node_allocator()
...
}}}
== Callgrind + Kcachegrind ==
Callgrind is a profiling tool that records the call history among function in UNIX process.The profile data is written out to a file named `callgrind.out.[pid]` at a program termination.
The data files generated by Callgrind can be loaded into Kcachegrind for browsing the performance results.
1. Update your launch file so that each ROS node outputs different profile data files.
{{{
<node name="listener" pkg="examples" type="listener" output="screen"
launch-prefix="valgrind --tool=callgrind --callgrind-out-file='callgrind.listener.%p' " />
<node name="talker" pkg="examples" type="talker" output="screen"
launch-prefix="valgrind --tool=callgrind --callgrind-out-file='callgrind.talker.%p'" />
}}}
2. Start your ROS node with `roslaunch` command, as usual. When you terminate the roslaunch process, you all get profile data under `~/.ros` directory.
3. Use Kcachegrind to visualize the profile data. For example `kcachegrind ~/.ros/callgrind.listener.8915` and `kcachegrind ~/.ros/callgrind.talker.8914` shows following images respectively.
[[attachment:kcachegrind-listener.png|{{attachment:kcachegrind-listener.png||width=700}}]]
[[attachment:kcachegrind-talker.png|{{attachment:kcachegrind-talker.png||width=700}}]]
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